tune_pid
Apply new PID gains to a controller node with safety validation. Rejects negative gains before hardware contact and returns control-theory-based tuning guidance.
Instructions
Apply new PID gains to a controller node with safety bounds validation. Gains are validated BEFORE reaching hardware — negative gains are rejected. Returns tuning guidance based on control theory.
Tool call template
Replace each placeholder with a value matching the input schema. Only required parameters are included; add optional parameters as needed.
{
"id": 1,
"jsonrpc": "2.0",
"method": "tools/call",
"params": {
"arguments": {
"node_name": "<node_name>"
},
"name": "tune_pid"
}
}Input Schema
| Name | Required | Description | Default |
|---|---|---|---|
| kd | No | New derivative gain (must be >= 0) | |
| ki | No | New integral gain (must be >= 0) | |
| kp | No | New proportional gain (must be >= 0) | |
| kd_param | No | kd | |
| ki_param | No | ki | |
| kp_param | No | kp | |
| node_name | Yes |